Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion
To simplify the kinematics expression and to increase the motion response speed for manipulators,a kinematics modeling method is proposed based on dual quaternion. First,to reduce the computational amount,the general equation of the forward kinematics of the manipulator is presented using dual quate...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2018-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.023 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547449264504832 |
|---|---|
| author | 葛为民 宇旭东 王肖锋 邢恩宏 |
| author_facet | 葛为民 宇旭东 王肖锋 邢恩宏 |
| author_sort | 葛为民 |
| collection | DOAJ |
| description | To simplify the kinematics expression and to increase the motion response speed for manipulators,a kinematics modeling method is proposed based on dual quaternion. First,to reduce the computational amount,the general equation of the forward kinematics of the manipulator is presented using dual quaternion.Then,to solve the inverse kinematics problem of the assembled joint variables of manipulator,the sub-problems are classified into two groups of uniaxial and biaxialox,this classification method includes the existing sub-problem classification,which is beneficial to the joint variable grouping solution. Finally,taking a 6 R series manipulator as an example,the forward kinematics and inverse kinematics modeling and simulation analysis based on the dual quaternion are carried out. The results show that this method is effective,comparing with the spinor method,its calculation time of forward kinematics is reduced by about 30%,the geometric meaning of inverse kinematics is more clear. This method can be applied to other sub-problems solution of the manipulator configuration. |
| format | Article |
| id | doaj-art-db0fa3439a2a47c282c70099828c32fd |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-db0fa3439a2a47c282c70099828c32fd2025-01-10T14:41:32ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014211211729937661Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion葛为民宇旭东王肖锋邢恩宏To simplify the kinematics expression and to increase the motion response speed for manipulators,a kinematics modeling method is proposed based on dual quaternion. First,to reduce the computational amount,the general equation of the forward kinematics of the manipulator is presented using dual quaternion.Then,to solve the inverse kinematics problem of the assembled joint variables of manipulator,the sub-problems are classified into two groups of uniaxial and biaxialox,this classification method includes the existing sub-problem classification,which is beneficial to the joint variable grouping solution. Finally,taking a 6 R series manipulator as an example,the forward kinematics and inverse kinematics modeling and simulation analysis based on the dual quaternion are carried out. The results show that this method is effective,comparing with the spinor method,its calculation time of forward kinematics is reduced by about 30%,the geometric meaning of inverse kinematics is more clear. This method can be applied to other sub-problems solution of the manipulator configuration.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.023ManipulatorKinematicsDual quaternionSub-problem |
| spellingShingle | 葛为民 宇旭东 王肖锋 邢恩宏 Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion Jixie chuandong Manipulator Kinematics Dual quaternion Sub-problem |
| title | Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion |
| title_full | Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion |
| title_fullStr | Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion |
| title_full_unstemmed | Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion |
| title_short | Kinematics Modeling and Analysis of Manipulator based on Dual Quaternion |
| title_sort | kinematics modeling and analysis of manipulator based on dual quaternion |
| topic | Manipulator Kinematics Dual quaternion Sub-problem |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.023 |
| work_keys_str_mv | AT géwèimín kinematicsmodelingandanalysisofmanipulatorbasedondualquaternion AT yǔxùdōng kinematicsmodelingandanalysisofmanipulatorbasedondualquaternion AT wángxiàofēng kinematicsmodelingandanalysisofmanipulatorbasedondualquaternion AT xíngēnhóng kinematicsmodelingandanalysisofmanipulatorbasedondualquaternion |